Anchor cable breaking robot

Abstract

The utility model relates to an anchor cable breaking robot which comprises a fixing base, a left-right swing oil cylinder, a lifting swing oil cylinder, a sliding frame, a sliding jack, an adjusting swing oil cylinder and a sectioning assembly, the fixing base is connected with a hydraulic support top beam or a reversed loader top plate, the left-right swing oil cylinder comprises a left cylinder body, a right cylinder body and a vertical output end, and the left cylinder body and the right cylinder body are connected with the fixing base. The vertical output end is connected with the lifting swing oil cylinder, the lifting swing oil cylinder comprises a lifting cylinder body and a first transverse output end, the lifting cylinder body is connected with the vertical output end, the sliding frame comprises a frame body and a sliding block, the first transverse output end is connected with the frame body, a sliding groove is formed in the frame body, and the sliding jack is used for driving the sliding block to slide back and forth along the sliding groove. The adjusting swing oil cylinder comprises an adjusting cylinder body and a second transverse output end, the adjusting cylinder body is connected with the sliding block, and the second transverse output end is connected with the sectioning assembly. Only one person is needed for remote control to achieve anchor breaking operation, the breaking capacity is high, operation is convenient, safety is high, and the labor intensity of workers is effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of an anchor cable unanchoring device for mining, and more specifically, to an anchor cable breaking robot. Background Art

[0002] Coal mine safety is the key to national economic stability and energy security. During coal mining, the surrounding rock of the tunnel (especially the drift) often loosens and falls. The mine often uses steel mesh and prestressed anchor cables to support the surrounding rock to ensure the safety of construction workers when mining. However, during mining, the tunnel support will cause the goaf to be empty for a long distance and fail to collapse in time, which poses a safety problem and restricts mining efficiency. Therefore, it is necessary to break the roof in time and destroy the roof support during mining.

[0003] The anchor removal tools in the prior art are such as the anchor removal device disclosed in the Chinese utility model patent document with publication number CN218150991U. The anchor removal device includes a reaction piece, an anchor removal piece, a jack and a limiter which are arranged in sequence from top to bottom when in use. The exposed top plate part of the anchor cable passes through the reaction piece, the anchor removal piece, the jack and the limiter in sequence. The limiter is arranged at the lower end of the jack and is connected to the anchor cable. The jack is extended to press the lock on the anchor cable toward the top plate, and the anchor cable is relatively displaced relative to the reaction piece, driving the locking plate to move together. When the locking plate moves out of the slot on the anchor and is completely exposed, the exposed locking plate is peeled off or taken out, and the lock is successfully withdrawn. After that, the anchor cable is in a stress-free free state and can be removed. However, the following problems exist when using this anchor withdrawal device: 1) When the roof pressure is high and there is no gap between the anchor plate and the roof, the jack cannot displace the anchor cable and the lock, and the anchor withdrawal effect cannot be achieved; 2) The working pressure of the hydraulic system is high, which may cause accidental injuries during construction; 3) The working face tunnel environment is humid and the roof pressure is high. Some anchor cables are deformed by pressure or rust, resulting in the anchor cables being unable to penetrate the anchor withdrawal device and the anchor withdrawal operation cannot be completed; 4) The construction requires the cooperation of at least three people, one person to climb up to the dangerous height to install the anchor withdrawal device, one person to operate the hydraulic system control valve, and another person to hold the ladder and observe the safety of the roof and the surrounding area. Not only does it pose a great personal safety hazard, but the manual labor intensity is also high. Utility Model Content

[0004] In view of the shortcomings of the prior art, the purpose of the utility model is to propose an anchor cable breaking robot that can solve the technical problems of the current anchor removal device that is easily affected by the top plate pressure and is difficult to remove the anchor, has great personal safety hazards, and has high manual labor intensity.

[0005] The utility model provides the following technical solutions:

[0006] The lifting and lowering ends of the hydraulic cylinders are connected to the lifting and lowering ends of the hydraulic cylinders, and the lifting and lowering ends of the hydraulic cylinders are connected to the lifting and lowering ends of the hydraulic cylinders. The lifting and lowering cylinders include a lifting cylinder body and a first lateral output end, and the lifting cylinder body is connected to the vertical output end of the left and right swing cylinders. The sliding frame includes a frame body and a slider, the first lateral output end is connected to the frame body, and a slide groove connected to the sliding guide of the slider is arranged on the frame body. The two ends of the sliding jack are respectively connected to the slider and the frame body, and are used to drive the slider to slide forward and backward along the slide groove. The adjusting swing cylinder includes an adjusting cylinder body and a second lateral output end, and the adjusting cylinder body is connected to the slider and moves forward and backward with the slider. The second lateral output end is connected to the cutting assembly, and the cutting assembly is used to break the anchor cable.

[0007] Furthermore, a first foot is provided on the upper part of the lifting cylinder body, and the lifting cylinder body is connected to the vertical output end through the first foot, and the first lateral output end extends from the horizontal ends of the lifting cylinder body and is connected to the sliding frame.

[0008] Furthermore, a second foot is provided on the side of the adjusting cylinder body, and the adjusting cylinder body is connected to the sliding block through the second foot. The second lateral output end extends from the horizontal ends of the adjusting oil cylinder and is connected to the cutting assembly.

[0009] Furthermore, the dissecting assembly includes a dissecter and a dissecter fixing frame, the dissecter fixing frame is connected to the second transverse output end, and the dissecter is mounted on the dissecter fixing frame.

[0010] Beneficial effect: The operation process of anchor withdrawal (anchor breaking) using the anchor cable breaking robot of the utility model is as follows: control the left and right swing cylinders to rotate so that the anchor cable breaking robot rotates left and right, moves the anchor cable breaking robot to under the anchor cable, and then controls the lifting and swinging cylinders to lift the anchor cable breaking robot to the vicinity of the anchor cable, and then operates the sliding jack to extend and retract so that the front end cutting component slides back and forth, and then operates the swing adjustment cylinder to move, fine-tune the up and down swing angle of the cutting component, so that the anchor cable is facing the cutter head hole of the cutter, and then controls the lifting and swinging cylinders to raise the cutter, places the anchor cable lock in the cutter head hole of the cutter, and then operates the cutting cylinders to extend and cut off the anchor cable lock, and then controls the cutting cylinders to retract, operates the lifting and swinging cylinders and the left and right swinging cylinders to make the anchor cable breaking robot leave and move to the next anchor cable, and repeats the above steps to continue to complete the anchor cable breaking work;

[0011] For this anchor cable breaking robot, it can be integrated on the top beam of the hydraulic support or on the top plate of the machine tunnel transfer machine to carry out the work of recovering anchor cables or breaking anchor cables in advance; it has multiple degrees of freedom in multiple directions, such as left and right swing, lifting and lowering swing, front and back sliding, and local up and down adjustment. It is flexible to operate, has high accuracy, adapts to a wide range of tunnels, and has a stable and reliable structure; it can follow the hydraulic support to push a step to support the roof, and destroy the steel mesh and anchor cables during the coal cutting process of the coal mining machine. The coal mining machine and the anchor breaking work are carried out simultaneously without affecting the recovery efficiency; at the same time, only one person is needed to remotely control the movement of each cylinder of the anchor cable breaking robot to complete the work of manipulating the insertion of the anchor cable, keeping away from and controlling the breaking, fully ensuring the safety of personnel and effectively reducing the intensity of manual labor; the anchor breaking method of the shearing and breaking lock is highly adaptable. Even if the anchor cable is deformed by the pressure of the roof and the influence of the environment, it will not affect the cutting operation. The operation is simple and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the use structure of a specific embodiment 1 of an anchor cable breaking robot of the utility model;

[0013] Figure 2 This is a schematic diagram of the specific structure of a specific embodiment 1 of the anchor cable breaking robot of the utility model from a side view perspective;

[0014] Figure 3 This is a schematic diagram of the specific structure of a specific embodiment 1 of an anchor cable breaking robot of the utility model from an upper side perspective;

[0015] Figure 4 This is a schematic diagram of the use structure of a specific embodiment 2 of an anchor cable breaking robot of the utility model;

[0016] Figure 5 This is a schematic diagram of the use structure of a specific embodiment 3 of an anchor cable breaking robot of the utility model;

[0017] Figure numerals: 1-end bracket; 2-anchor cable breaking robot; 3-fixed seat; 4-left and right swing cylinder; 5-lifting swing cylinder; 6-sliding frame; 7-sliding jack; 8-adjusting swing cylinder; 81-second foot; 82-adjusting cylinder body; 83-second lateral output end; 9-cutter fixing frame; 10-cutter; 11-airway advance bracket; 12-transfer machine. DETAILED DESCRIPTION

[0018] The utility model is described in detail below in conjunction with the accompanying drawings.

[0019] Specific embodiment 1 of an anchor cable breaking robot of the utility model:

[0020] like Figure 1As shown, the anchor cable breaking robot 2 is installed in the middle of the top beam of the end bracket 1 when in use. The specific structure is as follows Figure 2-3 As shown, it is mainly composed of a fixed seat 3, a left and right swing cylinder 4, a lifting and swinging cylinder 5, a sliding frame 6, a sliding jack 7, an adjusting swing cylinder 8 and a cutting assembly. The fixed seat 3 is connected to the top beam of the end bracket 1, and the left and right swing cylinder 4 is connected to the lower end of the fixed seat 3, wherein the left and right swing cylinder 4 includes a left and right cylinder body 4 on the upper side and a vertical output shaft on the lower side, the left and right cylinder body 4 is connected to the fixed seat 3, and the vertical output shaft is connected to the lifting and swinging cylinder 5. The lifting and swinging cylinder 5 includes a lifting cylinder body, a first lateral output shaft, and a first foot arranged on the upper part of the lifting cylinder body. The lifting cylinder body is connected to the vertical output shaft above through the first foot, and the first lateral output shaft extends from the horizontal ends of the lifting cylinder body and is connected to the sliding frame 6. This kind of foot-type connection method ensures the connection strength and stability of the lifting and swinging cylinder and the left and right swing cylinders. The lifting and swinging cylinder 5 is connected to the sliding frame 6 through a straddle installation, and the lifting and swinging cylinder 5 outputs torque through both ends, and the movement stability is higher.

[0021] The sliding frame 6 includes a frame body and a slider. A sliding groove extending forward and backward is provided on the frame body at one end away from the lifting and swinging oil cylinder 5. The frame body is connected to the sliding guide of the slider through the sliding groove. The slider is controlled to slide forward and backward along the sliding groove by the sliding jack 7. The two ends of the sliding jack 7 are respectively hinged to the side of the frame body and the side of the slider. The adjusting swing oil cylinder 8 includes an adjusting cylinder body 82, a second lateral output end 83 and a second foot 81 arranged on the side of the adjusting cylinder body. The adjusting cylinder body 82 is connected to the slider through the second foot 81. The second lateral output end 83 extends from both ends of the adjusting cylinder body 82 and is connected to the cutting assembly for stabilizing the output torque. The cutting assembly is arranged on the end of the sliding frame 6 away from the lifting and swinging oil cylinder. The cutting assembly includes a cutter 10 and a cutter fixing frame 9. One end of the cutter fixing frame 9 is connected to the second lateral output end 83, and the other end is provided with the cutter 10.

[0022] The cutter 10 in this embodiment can adopt a mining anchor cutter model QLAC-22. The cutter 10 includes an instrument body and a cutting cylinder. A cutter head hole is provided on the instrument body and an alloy cutter head is provided inside the cutter head hole. The cutting cylinder is extended and cooperated with the alloy cutter head to break the anchor cable.

[0023] The use process of the anchor cable breaking robot is as follows: first, control the left and right swing cylinders to rotate so that the anchor cable breaking robot rotates left and right and moves to the bottom of the anchor cable; then control the movement of the lifting swing cylinder to raise the anchor cable breaking robot to the vicinity of the anchor cable; then operate the sliding jack to extend and retract, so that the front end cutting component slides back and forth with the slider and adjusts the front and rear position, and then operate the swing adjustment cylinder to fine-tune the up and down swing angle of the cutting component so that the anchor cable is facing the cutter head hole of the cutter, and then control the lifting swing cylinder to raise the cutter, place the anchor cable lock in the cutter head hole of the cutter, drive the cutting cylinder to extend, cut off the anchor cable lock, and then control the cutting cylinder to retract, operate the lifting swing cylinder and the left and right swing cylinders to make the anchor cable breaking robot leave and move to the next anchor cable, and repeat the above steps to continue to complete the anchor cable breaking work.

[0024] Combining the above operating process and structure, the anchor cable breaking robot provided by the utility model is flexible in operation and has multi-directional freedom of movement. By operating the oil cylinders and jacks, it can realize movements such as left and right swinging, up and down lifting, front and back sliding, and up and down fine-tuning. It is easy to operate the anchor cable breaking robot to achieve precise anchor breaking, can adapt to a wide range of tunnels, and has the characteristics of reliable structure and stable force application. During the working process, it can operate synchronously with the coal mining machine and hydraulic support support without affecting the mining efficiency.

[0025] All actions of the anchor cable breaking robot can be controlled by the remote control system, which includes a remote control, a wireless receiver, an electronically controlled proportional multi-way valve, a remote control antenna, and a hydraulic hose. All hydraulic components are supplied by an end emulsion pump station or a self-contained hydraulic pump station, and the oil cylinder or jack is equipped with a safety valve to ensure work safety. Only one person is needed to remotely control the various actions of the anchor cable breaking robot and then achieve anchor breaking work, which greatly ensures personnel safety and reduces labor intensity. In addition, the shear anchor breaking method has a wider range of applications, and the operation is not affected by the top plate pressure and anchor cable deformation, has a strong breaking ability, and has a high operating efficiency.

[0026] Specific embodiment 2 of an anchor cable breaking robot of the utility model:

[0027] The difference from Example 1 is that Figure 4 As shown, the anchor cable breaking robot is integrated on the wind tunnel advance bracket 11 when in use, and the fixing seat is fixedly connected to the top beam of the wind tunnel advance bracket 11.

[0028] Specific embodiment 3 of an anchor cable breaking robot of the utility model:

[0029] The difference from Example 1 is that Figure 5 As shown, the anchor cable breaking robot is integrated on the top plate of the transfer machine 12 when in use, and the fixing seat is fixedly connected to the top plate of the transfer machine 12.

[0030] The above are only preferred implementations of the utility model. The protection scope of the utility model is not limited to the above embodiments. All technical solutions under the idea of ​​the utility model belong to the protection scope of the utility model. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the utility model should also be regarded as the protection scope of the utility model.

Claims

1. An anchor cable breaking robot, characterized in that: The jack is mainly composed of a fixed seat, a left and right swinging oil cylinder, a lifting and swinging oil cylinder, a sliding frame, a sliding jack, an adjusting swinging oil cylinder and a cutting assembly. The top of the fixed seat is used to connect with the top beam of the hydraulic support or the top plate of the transfer machine. The left and right swinging oil cylinders include left and right cylinder bodies and a vertical output end. The left and right cylinder bodies are connected to the lower end of the fixed seat. The vertical output end is connected to the lifting and swinging oil cylinder. The lifting and swinging oil cylinder includes a lifting cylinder body and a first horizontal output end. The lifting cylinder body is connected to the vertical output end of the left and right swinging oil cylinder. The sliding frame includes a frame body and a slider. The first horizontal output end is connected to the frame body. A slide groove connected to the sliding guide of the slider is arranged on the frame body. The two ends of the sliding jack are respectively connected to the slider and the frame body, and are used to drive the slider to slide forward and backward along the slide groove. The adjusting swinging oil cylinder includes an adjusting cylinder body and a second horizontal output end. The adjusting cylinder body is connected to the slider and moves forward and backward with the slider. The second horizontal output end is connected to the cutting assembly, and the cutting assembly is used to break the anchor cable.

2. The anchor cable breaking robot according to claim 1, characterized in that: A first foot is arranged on the upper part of the lifting cylinder body, and the lifting cylinder body is connected to the vertical output end through the first foot. The first horizontal output end extends from the horizontal ends of the lifting cylinder body and is connected to the sliding frame.

3. The anchor cable breaking robot according to claim 1, characterized in that: A second foot is arranged on the side of the adjusting cylinder body, and the adjusting cylinder body is connected to the sliding block through the second foot. The second transverse output end extends from the horizontal ends of the adjusting oil cylinder and is connected to the cutting assembly.

4. An anchor cable breaking robot as claimed in any one of claims 1 to 3, characterized in that: The cutting assembly comprises a cutter and a cutter fixing frame, the cutter fixing frame is connected to the second transverse output end, and the cutter is installed on the cutter fixing frame.

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